version: 66.02
glider: 103
mission: 7
dive: 253
start: 12 30 107 21 10 1
data:
$ID,103
$MISSION,7
$DIVE,253
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,571.30371
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-67107.609
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2901
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.98249
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712188
$SEABIRD_T_H,0.00064056052
$SEABIRD_T_I,2.37435e-05
$SEABIRD_T_J,2.3296527e-06
$SEABIRD_C_G,-9.8560104
$SEABIRD_C_H,1.1097485
$SEABIRD_C_I,-0.0009817977
$SEABIRD_C_J,0.00017126031
$GPS1,204858,6359.796,-1250.479,39,2.1,58,-12.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.69
$_SM_ANGLEo,-34.4
$GPS2,210857,6359.941,-1249.972,9,1.7,9,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.191,-0.107
$KALMAN_X,-231881.0,1270.1,-603.6,5827.7,5781.9
$KALMAN_Y,-217010.8,-626.6,-1155.0,489097.1,2065.5
$MHEAD_RNG_PITCHd_Wd,253.1,8142,-11.1,-6.000
$D_GRID,588
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.10,-146.6,0.0,0.0,0,134,0.00,0.00,-105.32,0.000,6,0.000,0.000,52,2899,3500
$GC,137,-1.10,-146.6,4.7,-5.9,6,159,11.98,2.60,0.00,0.000,4,0.161,0.051,2166,1481,3502
$GC,231,-1.10,-146.6,20.3,-10.7,10,235,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2900,3502
$GC,558,-1.10,-146.6,46.0,-4.4,26,562,0.00,1.73,0.00,0.000,4,0.000,0.098,2166,3787,3502
$GC,726,-1.10,-146.6,63.4,-12.4,33,730,0.00,1.60,0.00,0.000,6,0.000,0.055,2166,2909,3502
$GC,1047,-1.10,-146.6,93.2,-10.3,49,1052,0.00,2.62,0.00,0.000,4,0.000,0.072,2166,1487,3502
$GC,1068,-1.10,-146.6,95.5,-10.4,50,1073,0.00,2.67,0.00,0.000,6,0.000,0.078,2166,2898,3502
$GC,1397,-1.10,-146.6,121.2,-8.5,66,1400,0.00,1.73,0.00,0.000,4,0.000,0.097,2166,3792,3502
$GC,1452,-1.10,-146.6,125.7,-5.9,68,1456,0.00,1.60,0.00,0.000,6,0.000,0.053,2166,2904,3502
$GC,1773,-1.10,-146.6,158.1,-10.8,84,1777,0.00,1.75,0.00,0.000,4,0.000,0.100,2166,3777,3502
$GC,1840,-1.10,-146.6,165.5,-10.9,87,1843,0.00,1.58,0.00,0.000,6,0.000,0.054,2166,2888,3502
$GC,2172,-1.10,-146.6,192.3,0.4,103,2176,0.00,2.58,0.00,0.000,4,0.000,0.071,2166,1489,3501
$GC,2227,-1.10,-146.6,194.2,-4.6,105,2233,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2905,3501
$GC,2543,-1.10,-146.6,208.7,-4.4,121,2546,0.00,1.70,0.00,0.000,4,0.000,0.098,2166,3787,3502
$GC,2604,-1.10,-146.6,210.8,-2.5,123,2610,0.00,1.58,0.00,0.000,6,0.000,0.051,2166,2905,3501
$GC,2920,-1.10,-146.6,225.4,-7.8,139,2924,0.00,1.75,0.00,0.000,4,0.000,0.100,2166,3779,3502
$GC,2969,-1.10,-146.6,231.7,-11.8,141,2973,0.00,1.58,0.00,0.000,6,0.000,0.051,2166,2900,3502
$GC,3296,-1.10,-146.6,263.9,-7.6,157,3300,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1489,3501
$GC,3358,-1.10,-146.6,267.8,-5.4,160,3362,0.00,2.67,0.00,0.000,6,0.000,0.079,2166,2904,3502
$GC,3684,-1.10,-146.6,278.3,-5.0,176,3687,0.00,1.70,0.00,0.000,4,0.000,0.100,2166,3786,3502
$GC,3778,-1.10,-146.6,284.9,-7.3,180,3782,0.00,1.58,0.00,0.000,6,0.000,0.051,2166,2902,3502
$GC,4106,-1.10,-146.6,309.8,-7.3,196,4110,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1490,3502
$GC,4154,-1.10,-146.6,313.5,-7.2,198,4158,0.00,2.65,0.00,0.000,6,0.000,0.077,2166,2900,3502
$GC,4476,-1.10,-146.6,336.0,-7.5,214,4479,0.00,1.73,0.00,0.000,4,0.000,0.100,2166,3791,3502
$GC,4525,-1.10,-146.6,340.3,-8.5,216,4529,0.00,1.58,0.00,0.000,6,0.000,0.050,2166,2907,3502
$GC,4852,-1.10,-146.6,364.2,-6.4,232,4856,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1479,3501
$GC,4929,-1.10,-146.6,369.3,-6.6,235,4936,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2901,3502
$GC,5245,-1.10,-146.6,393.7,-8.2,251,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,5554,-1.10,-146.6,416.6,-7.0,266,5559,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1482,3502
$GC,5594,-1.10,-146.6,419.1,-6.5,268,5598,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2900,3502
$GC,5919,-1.10,-146.6,439.1,-6.2,284,5924,0.00,2.55,0.00,0.000,4,0.000,0.059,2166,1481,3502
$GC,5963,-1.10,-146.6,441.8,-6.5,286,5968,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2908,3502
$GC,6284,-1.10,-146.6,461.5,-6.0,302,6288,0.00,2.58,0.00,0.000,4,0.000,0.057,2166,1477,3502
$GC,6316,-1.10,-146.6,463.4,-5.7,303,6323,0.00,2.62,0.00,0.000,6,0.000,0.065,2166,2903,3502
$GC,6632,-1.10,-146.6,479.5,-4.8,319,6635,0.00,1.70,0.00,0.000,4,0.000,0.094,2166,3790,3501
$GC,6693,-1.10,-146.6,482.9,-5.6,321,6699,0.00,1.58,0.00,0.000,6,0.000,0.044,2166,2888,3502
$GC,7008,-1.10,-146.6,502.4,-6.8,337,7012,0.00,2.50,0.00,0.000,4,0.000,0.054,2166,1480,3502
$GC,7040,-1.10,-146.6,504.6,-6.9,338,7046,0.00,2.62,0.00,0.000,6,0.000,0.065,2166,2908,3502
$GC,7356,-1.10,-146.6,523.9,-5.5,354,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3502
$GC,7665,-1.10,-146.6,543.7,-7.1,369,7669,0.00,2.53,0.00,0.000,4,0.000,0.050,2166,1477,3501
$GC,7730,-1.10,-146.6,548.4,-7.4,372,7735,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2900,3502
$GC,8058,-1.10,-146.6,568.6,-5.5,388,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3501
$GC,8366,-1.10,-146.6,586.9,-6.4,403,8370,0.00,2.50,0.00,0.000,4,0.000,0.048,2166,1479,3501
$STATE,8387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8387,begin apogee
$GC,8393,-0.42,0.0,588.6,7.2,404,8521,0.75,0.00,124.82,1.206,6,0.089,0.000,2318,2109,2901
$STATE,8522,end apogee,CONTROL_FINISHED_OK
$STATE,8522,begin climb
$GC,8525,1.10,146.6,593.9,0.0,410,8656,1.52,2.65,121.55,1.172,4,0.054,0.051,2648,694,2303
$GC,8707,1.18,212.0,593.0,4.2,418,8769,0.00,2.45,55.62,1.144,6,0.000,0.034,2648,2118,2036
$GC,9087,1.19,218.8,574.1,5.8,437,9101,0.00,2.62,7.25,0.967,4,0.000,0.060,2648,3501,2008
$GC,9140,1.19,218.8,570.7,6.8,439,9145,0.00,2.45,0.00,0.000,6,0.000,0.035,2648,2092,2008
$GC,9462,1.19,218.8,547.0,8.4,455,9466,0.00,2.62,0.00,0.000,4,0.000,0.065,2648,3499,2007
$GC,9510,1.19,218.8,542.6,8.7,457,9515,0.00,2.42,0.00,0.000,6,0.000,0.035,2648,2100,2007
$GC,9832,1.19,218.8,516.7,6.7,473,9836,0.00,2.58,0.00,0.000,4,0.000,0.064,2648,3498,2006
$GC,9932,1.19,218.8,510.1,7.1,477,9939,0.00,2.42,0.00,0.000,6,0.000,0.038,2648,2103,2006
$GC,10247,1.19,218.8,490.7,6.3,493,10251,0.00,2.60,0.00,0.000,4,0.000,0.066,2648,3501,2006
$GC,10295,1.19,218.8,487.2,7.7,495,10300,0.00,2.45,0.00,0.000,6,0.000,0.038,2648,2095,2006
$GC,10617,1.19,218.8,460.1,9.0,511,10622,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3498,2006
$GC,10728,1.19,218.8,449.4,9.7,516,10733,0.00,2.45,0.00,0.000,6,0.000,0.041,2648,2100,2006
$GC,11056,1.19,218.8,423.6,6.9,532,11060,0.00,2.60,0.00,0.000,4,0.000,0.070,2648,3491,2006
$GC,11121,1.19,218.8,419.4,6.5,535,11125,0.00,2.45,0.00,0.000,6,0.000,0.042,2648,2096,2006
$GC,11448,1.19,218.8,399.7,6.6,551,11453,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3496,2006
$GC,11537,1.19,218.8,393.0,7.4,555,11542,0.00,2.45,0.00,0.000,6,0.000,0.042,2648,2101,2006
$GC,11859,1.19,218.8,371.3,6.4,571,11863,0.00,2.60,0.00,0.000,4,0.000,0.072,2648,3491,2006
$GC,11942,1.19,218.8,364.9,8.2,575,11946,0.00,2.45,0.00,0.000,6,0.000,0.044,2648,2100,2006
$GC,12270,1.19,218.8,337.7,8.5,591,12274,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3498,2006
$GC,12303,1.19,218.8,334.7,8.9,592,12309,0.00,2.47,0.00,0.000,6,0.000,0.043,2648,2102,2006
$GC,12618,1.21,236.4,315.3,5.5,608,12639,0.12,0.00,15.25,0.980,6,0.043,0.000,2690,2101,1937
$GC,12948,1.21,236.4,289.6,8.2,624,12952,0.00,2.65,0.00,0.000,4,0.000,0.077,2690,3492,1937
$GC,12987,1.21,236.4,286.3,8.6,626,12992,0.00,2.47,0.00,0.000,6,0.000,0.044,2690,2094,1936
$GC,13313,1.21,236.4,260.6,7.6,642,13317,0.00,2.65,0.00,0.000,4,0.000,0.076,2690,3492,1937
$GC,13356,1.21,236.4,256.8,9.3,644,13361,0.00,2.47,0.00,0.000,6,0.000,0.046,2690,2096,1937
$GC,13677,1.21,236.4,226.6,8.9,660,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2096,1937
$GC,13986,1.21,236.4,200.4,8.9,675,13991,0.00,2.65,0.00,0.000,4,0.000,0.077,2690,3492,1937
$GC,14019,1.21,236.4,198.0,7.1,676,14025,0.00,2.47,0.00,0.000,6,0.000,0.049,2690,2100,1937
$GC,14334,1.21,236.4,172.7,8.2,692,14339,0.00,2.65,0.00,0.000,4,0.000,0.076,2690,3500,1937
$GC,14367,1.21,236.4,170.0,7.9,693,14373,0.00,2.50,0.00,0.000,6,0.000,0.049,2689,2098,1937
$GC,14683,1.21,236.4,145.1,8.7,709,14687,0.00,2.55,0.00,0.000,4,0.000,0.061,2690,690,1937
$GC,14732,1.21,236.4,141.6,7.3,711,14736,0.00,2.45,0.00,0.000,6,0.000,0.043,2690,2088,1937
$GC,15053,1.21,236.4,118.5,7.9,727,15058,0.00,2.67,0.00,0.000,4,0.000,0.079,2690,3508,1937
$GC,15075,1.21,236.4,116.6,8.9,728,15079,0.00,2.53,0.00,0.000,6,0.000,0.050,2690,2093,1937
$GC,15395,1.21,236.4,91.1,9.0,744,15400,0.00,2.53,0.00,0.000,4,0.000,0.060,2690,691,1937
$GC,15435,1.21,236.4,87.9,7.9,746,15439,0.00,2.47,0.00,0.000,6,0.000,0.046,2690,2099,1937
$GC,15767,1.21,236.4,65.9,6.6,762,15771,0.00,2.58,0.00,0.000,4,0.000,0.062,2690,691,1937
$GC,15806,1.21,236.4,62.8,8.7,764,15810,0.00,2.47,0.00,0.000,6,0.000,0.046,2690,2100,1937
$GC,16137,1.21,236.4,34.5,7.9,780,16142,0.00,2.67,0.00,0.000,4,0.000,0.081,2690,3515,1938
$GC,16177,1.21,236.4,30.8,8.7,782,16181,0.00,2.53,0.00,0.000,6,0.000,0.051,2690,2099,1938
$STATE,16501,end climb,SURFACE_DEPTH_REACHED
$STATE,16501,begin surface coast
$FINISH,-1.1,1.021427
$STATE,16524,end surface coast,CONTROL_FINISHED_OK
$STATE,16526,begin surface
$SM_CCo,16548,264.02,0.769,1,0,572,571.30
$SM_GC,-0.57,0.00,0.00,264.02,0.000,0.000,0.769,44,2897,572,-10.88,-0.08,571.30
$IRIDIUM_FIX,6337.14,-1251.95,311207,010101
$TT8_MAMPS,0.028379
$HUMID,2007
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,551.0,85.6
$24V_AH,23.4,44.830
$10V_AH,10.1,21.865
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.925,185.700,324.500,264.025,0.000,191.460,188.582,448.194,5.000,0.000,0.000,11.149,1523.271,12725.259,780.138,1881.317,1122.227,33.384,1764.197,0.000,1859.375,0.000,31.504
$DEVICE_MAMPS,161.070,103.545,1205.724,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,591.603,555.737,508.443,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41129,799
$CFSIZE,260165632,243724288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,1,0
$GPS,311207,015140,6359.022,-1245.198,38,1.9,46,-12.3